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Added mag support to the DriverFramework mpu9250 driver. Shortened parameter names for legacy drivers. Added temporary ifdef's in the calibration code for Snapdragon Flight builds.

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Signed-off-by: jwilson <jwilson@qti.qualcomm.com>
This commit is contained in:
jwilson
2016-05-26 21:21:37 -07:00
committed by Lorenz Meier
parent d9422e0296
commit c6250657eb
13 changed files with 202 additions and 230 deletions
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src/modules/commander/accelerometer_calibration.cpp
+4 -4
View File
@@ -175,7 +175,7 @@ typedef struct {
int do_accel_calibration(orb_advert_t *mavlink_log_pub)
{
#ifndef __PX4_QURT
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
int fd;
#endif
@@ -195,7 +195,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
#ifndef __PX4_QURT
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
/* reset all offsets to zero and all scales to one */
fd = px4_open(str, 0);
@@ -329,7 +329,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
return ERROR;
}
#ifndef __PX4_QURT
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
fd = px4_open(str, 0);
@@ -419,7 +419,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
break;
}
#ifdef __PX4_QURT
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &accel_report);
src/modules/commander/gyro_calibration.cpp
+4 -4
View File
@@ -186,7 +186,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
// Reset all offsets to 0 and scales to 1
(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
#ifndef __PX4_QURT
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);
if (fd >= 0) {
@@ -239,9 +239,9 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
for (unsigned s = 0; s < gyro_count; s++) {
worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
#ifdef __PX4_QURT
#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE)
// For QURT respectively the driver framework, we need to get the device ID by copying one report.
struct gyro_report gyro_report;
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
worker_data.device_id[s] = gyro_report.device_id;
#endif
@@ -337,7 +337,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
(void)sprintf(str, "CAL_GYRO%u_ID", s);
failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
#ifndef __PX4_QURT
#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
/* apply new scaling and offsets */
(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
int fd = px4_open(str, 0);